書誌事項
- タイトル別名
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- Tension Control for Tendon Mechanisms by Compensation of Nonlinear Spring Characteristic Equation Error
- ケンクドウ キコウ ニ オケル ヒセンケイ バネ ノ トクセイシキ ゴサ ホショウ ニ ヨル チョウリョク セイギョ
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抄録
Versatility and adherence to safety norms that are required of manipulators used in a human environment can be achieved by using tendon mechanisms that employ nonlinear springs. The nonlinear spring used in this paper is stiffness adjustable tendon (SAT), which has advantages such as it is light weight, low cost, and has a simple structure. However, precise tension control of SAT cannot be achieved by conventional methods based on a spring characteristic equation because of the SAT's hysteresis characteristics. Therefore, we propose a tension control method for nonlinear springs whose precise equation is difficult to obtain, such as SAT; this method is realized by using a disturbance observer and a reaction force observer. Experimental results validate the proposed method.
収録刊行物
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- 電気学会論文誌D(産業応用部門誌)
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電気学会論文誌D(産業応用部門誌) 130 (6), 816-823, 2010
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390001204658547712
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- NII論文ID
- 10026383080
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- NII書誌ID
- AN10012320
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- BIBCODE
- 2010IJTIA.130..816H
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 10693809
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可